Design of a Stephenson III six-bar path generating mechanism for index finger rehabilitation device using nature-inspired algorithms

Abstract

The paper presents a new mechanism for an index finger rehabilitation device. The mechanism was designed based on a pre-specified trajectory obtained by performing flexion/extension experimental trials with index finger. These experiments were performed 30 times and mean of the normalized trajectory was extracted. From this trajectory, six precision points were selected and based on the obtained trajectory, a path generating optimization problem was formulated to imitate the flexion/extension. Besides, rectification constraints were posed to avoid defects that typically encounter during synthesis. The formulated nonlinear optimization problem was solved using nature-inspired and metaphor-less algorithms. It is found that the summed error between the desired and generated trajectories was very less in case of nature-inspired algorithm in comparison with metaphor-less algorithm. Then, all rectification constraints were validated. It is found that obtained mechanism is completely defect-free and is able to imitate the desired flexion/extension trajectory. Therefore, design obtained using nature-inspired algorithm may prove to be beneficial for the patients with dysfunction index finger.